#! /usr/bin/python
# **********************************************************
#  Software License Agreement (BSD License)
#
#   Copyright (c) 2009, Willow Garage, Inc.
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#    * Neither the name of Willow Garage, Inc. nor the names of its
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#  Author: Eitan Marder-Eppstein
# **********************************************************
import roslib
import rospy
import sys


class DynamicAction(object):
    def __init__(self, name):
        # remove "Action" string from name
        assert("Action" in name)
        self.name = name[0:len(name)-6]
        self.action = self.load_submsg('Action')
        self.goal = self.load_submsg('Goal')
        self.feedback = self.load_submsg('Feedback')
        self.result = self.load_submsg('Result')

    def load_submsg(self, subname):
        msgclass = roslib.message.get_message_class(self.name + subname)
        if msgclass is None:
            rospy.logfatal('Could not load message for: %s' % (self.name + subname))
            sys.exit(1)
        return msgclass
